Difference between revisions of "PatrolDrone"
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| + | == Goal == | ||
| + | The goal of this project is to develop an application for a quadrocopter able to patrol a closed environment. | ||
| + | |||
| + | == Motivation == | ||
| + | Environment reconstruction and exploration with limited sensoring capacity (monocular view, altitude sensor, gyroscope) using the low cost quadrocopter AR drone 2.0 | ||
| + | |||
| + | == Useful readings == | ||
| + | |||
| + | === SLAM === | ||
| + | * SLAM [http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping] | ||
| + | |||
| + | * EKF [http://robots.stanford.edu/probabilistic-robotics/] | ||
| + | |||
| + | * PTAM [http://www.robots.ox.ac.uk/~gk/PTAM/] | ||
| + | |||
| + | === Navigation === | ||
| + | ====Indoor Navigation==== | ||
| + | * Indoor Navigation with laser Scanners [http://www.isprs.org/proceedings/XXXVII/congress/1_pdf/167.pdf] | ||
| + | * Depth Camera Localization and Navigation [http://www.cs.cmu.edu/~mmv/papers/12icra-BiswasVeloso.pdf] | ||
| + | * BIM Based Navigation [http://rrg.mchtr.pw.edu.pl/lib/exe/fetch.php?media=en:home:public:publications:bim_based_indoor_navigation_system_of_hermes_mobile_robot.pdf] | ||
| + | * Visibility of Poin Clouds and Exploratory Path Planning in Unknown environment [ftp://ftp.math.ucla.edu/pub/camreport/cam08-28.pdf] | ||
| + | |||
| + | == ROS packages == | ||
| + | * ardrone driver [http://ros.org/wiki/ardrone_autonomy] | ||
| + | * ardrone PTAM and EKF wrapper [http://www.ros.org/wiki/tum_ardrone] | ||
| + | * PCL [http://www.ros.org/wiki/pcl] | ||
Revision as of 17:12, 20 March 2013
PatrolDrone
| |
| Short Description: | The goal of the project is to develop a drone able to patrol an indoor ambient to search por intruders |
| Coordinator: | AndreaBonarini (andrea.bonarini@polimi.it) |
| Tutor: | AndreaBonarini (andrea.bonarini@polimi.it) |
| Collaborator: | |
| Students: | DanieleIasella (daniele.iasella@mail.polimi.it), StefanoFossati (stefanofossati.86@gmail.com) |
| Research Area: | Robotics |
| Research Topic: | Robot development |
| Start: | 24/10/2012 |
| Status: | Active |
| Level: | Ms |
Contents
Goal
The goal of this project is to develop an application for a quadrocopter able to patrol a closed environment.
Motivation
Environment reconstruction and exploration with limited sensoring capacity (monocular view, altitude sensor, gyroscope) using the low cost quadrocopter AR drone 2.0
Useful readings
SLAM
- SLAM [1]
- EKF [2]
- PTAM [3]
- Indoor Navigation with laser Scanners [4]
- Depth Camera Localization and Navigation [5]
- BIM Based Navigation [6]
- Visibility of Poin Clouds and Exploratory Path Planning in Unknown environment [7]
